TD3 [1]} is used as the unconstrained reference for the upper bounds of reward performance and cost signals. On the SpeedLimit task, the safety constraint (\(velocity < 1.5 m/s\) ) is easily violated since the ant is able to move much faster for higher rewards. Thus, we can clearly observe that the TD3 agent achieves over \(95\%\)  episodic cost rate at convergence while other risk-aware algorithms in SafeRL-kit suppress the explosion of cost rate. On other tasks, the cost signals are more sparse, such as the accidental collisions with obstacles in autonomous driving. Nevertheless, the evaluated algorithms still effectively reduce the likelihood of safety violations.
